Composing Learned Robot Behaviors with Temporal Logic at Runtime
Executing Linear Temporal Logic (LTL) instructions with learned robot policies faces two practical challenges: demonstrations may cover individual behaviors without containing the temporal compositions requested at deployment, and semantic success predicates often provide little useful motor guidance through quantitative robustness. We address these challenges by separating behavior learning from temporal composition. From the same offline demonstrations, we train an unconditioned multimodal diffusion policy and a semantic predictor that estimates which semantic outcomes are likely to follow a proposed action sequence. These predictions provide a learned guidance signal without requiring ...
| Authors | Moritz Zoellner, Anastasios Manganaris, Ahmed H. Qureshi et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 August 2026 |
| Last updated at source | 30 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.